version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 379
start: 7 13 117 14 32 15
data:
$ID,574
$MISSION,23
$DIVE,379
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,335
$T_MISSION,350
$T_ABORT,400
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,0
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,17
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52970
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3888
$C_PITCH,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,50
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,2271
$C_ROLL_CLIMB,1870
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2465
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,96.25
$MINV_24V,19
$MINV_10V,8.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.230709
$PRESSURE_SLOPE,0.0001171049
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,38
$DEVICE3,51
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$GPS1,130717,142332,-2945.8103,3146.1040,19,0.8,19,-24.8,0.6,55.4,10,106.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-77.3
$GPS2,130717,143129,-2945.7168,3146.1147,20,0.8,20,-24.8,0.0,0.0,11,100.2
$SPEED_LIMITS,0.325,0.335
$TGT_NAME,TGT1
$TGT_LATLONG,-3000.000,3200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,164.7,34579,-13.3,-9.950,-16.52,4010
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.48,-175.2,123,2294,1300,1159,0.0,0.0,0,73,0.00,0.00,-54.97,0.000,16386,0.000,0.000,124,2295,2772,2753,2791,0,0,0,0,0,0,26.13,28.83,26.15
$GC,76,-0.48,-175.2,123,2295,2755,2791,3.7,-2.6,7,101,9.77,2.12,-7.12,0.000,18692,0.213,0.043,2658,3678,3182,3217,3148,0,0,0,0,0,0,25.40,25.28,25.58
$GC,185,-0.48,-175.2,2658,3678,3225,3143,31.6,-15.2,24,194,0.00,2.17,0.00,0.000,1030,0.000,0.025,2658,2262,3184,3227,3141,0,0,0,0,0,0,25.96,25.93,25.99
$GC,329,-0.48,-175.2,2658,2258,3232,3137,61.2,-23.7,49,335,0.00,2.10,0.00,0.000,516,0.000,0.031,2658,858,3184,3232,3137,0,0,0,0,0,0,26.34,25.98,26.36
$GC,375,-0.48,-175.2,2657,858,3232,3136,69.4,-14.3,57,383,0.10,2.12,0.00,0.000,3078,0.161,0.027,2677,2262,3184,3232,3136,0,0,0,0,0,0,25.78,26.04,25.94
$GC,699,-0.48,-175.2,2677,2262,3236,3136,114.7,-14.5,108,707,0.00,2.10,0.00,0.000,260,0.000,0.033,2668,3680,3186,3236,3137,0,0,0,0,0,0,26.50,26.12,26.51
$GC,739,-0.48,-175.2,2667,3680,3236,3137,119.9,-12.8,112,743,0.00,2.08,0.00,0.000,1030,0.000,0.021,2668,2263,3186,3236,3137,0,0,0,0,0,0,26.25,26.18,26.27
$GC,1045,-0.48,-175.2,2667,2259,3238,3136,160.5,-12.9,142,1054,0.00,2.05,0.00,0.000,516,0.000,0.028,2668,869,3187,3238,3136,0,0,0,0,0,0,26.54,26.20,26.55
$GC,1167,-0.48,-175.2,2667,869,3239,3136,175.1,-10.8,154,1176,0.00,2.10,0.00,0.000,1030,0.000,0.027,2658,2274,3187,3238,3136,0,0,0,0,0,0,26.32,26.25,26.34
$GC,1476,-0.48,-175.2,2657,2274,3238,3136,217.4,-14.4,179,1480,0.00,2.10,0.00,0.000,516,0.000,0.028,2658,857,3187,3238,3136,0,0,0,0,0,0,26.63,26.26,26.65
$GC,1530,-0.48,-175.2,2658,857,3239,3135,223.4,-14.5,181,1538,0.10,2.10,0.00,0.000,3078,0.149,0.026,2678,2272,3187,3238,3136,0,0,0,0,0,0,26.05,26.29,26.18
$GC,2337,-0.48,-175.2,2678,2271,3238,3133,316.8,-10.6,222,2343,0.00,2.12,0.00,0.000,516,0.000,0.029,2679,858,3185,3238,3132,0,0,0,0,0,0,26.70,26.29,26.71
$GC,2481,-0.48,-175.2,2678,858,3238,3133,330.4,-9.4,229,2485,0.00,2.12,0.00,0.000,1030,0.000,0.028,2670,2277,3185,3238,3133,0,0,0,0,0,0,26.40,26.32,26.43
$GC,3300,-0.48,-175.2,2669,2277,3236,3130,433.3,-12.6,270,3305,0.00,2.08,0.00,0.000,516,0.000,0.028,2670,863,3183,3236,3130,0,0,0,0,0,0,26.72,26.32,26.73
$GC,3432,-0.48,-175.2,2670,863,3236,3129,446.6,-10.5,276,3439,0.00,2.10,0.00,0.000,1030,0.000,0.028,2660,2271,3182,3236,3129,0,0,0,0,0,0,26.41,26.33,26.44
$GC,4238,-0.48,-175.2,2659,2271,3233,3126,542.8,-12.1,317,4242,0.00,2.10,0.00,0.000,516,0.000,0.028,2660,870,3179,3233,3126,0,0,0,0,0,0,26.72,26.31,26.74
$GC,4384,-0.48,-175.2,2659,870,3232,3126,558.6,-11.1,324,4388,0.00,2.10,0.00,0.000,1030,0.000,0.029,2650,2271,3179,3232,3126,0,0,0,0,0,0,26.41,26.33,26.44
$GC,5192,-0.48,-175.2,2649,2271,3229,3121,675.2,-12.7,364,5198,0.00,2.12,0.00,0.000,516,0.000,0.029,2650,860,3174,3228,3121,0,0,0,0,0,0,26.73,26.29,26.74
$GC,5299,-0.48,-175.2,2649,860,3228,3121,686.2,-10.5,369,5304,0.12,2.12,0.00,0.000,3078,0.144,0.029,2679,2273,3174,3228,3121,0,0,0,0,0,0,26.02,26.32,26.17
$STATE,6004,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6004,begin apogee
$GC,6010,0.00,0.0,2678,1838,3228,3117,754.0,-10.0,404,6152,0.47,0.00,138.43,1.133,10246,0.112,0.000,2831,1837,2464,2537,2391,0,0,0,0,0,0,25.94,24.64,23.94
$STATE,6152,end apogee,CONTROL_FINISHED_OK
$STATE,6153,begin climb
$GC,6154,0.48,175.2,2831,1837,2538,2391,758.8,0.0,411,6310,0.40,2.38,145.70,1.118,10500,0.035,0.031,3007,3268,1748,1844,1653,0,0,0,0,0,0,24.84,24.32,23.64
$GC,6336,0.48,175.2,3006,3268,1841,1654,741.0,17.7,420,6340,0.00,2.17,0.00,0.000,1030,0.000,0.028,3016,1906,1747,1841,1654,0,0,0,0,0,0,24.87,24.79,24.88
$GC,7143,0.48,175.2,3016,1906,1833,1646,566.7,19.6,460,7147,0.00,2.05,0.00,0.000,260,0.000,0.028,3016,3281,1739,1833,1646,0,0,0,0,0,0,26.38,26.05,26.39
$GC,7259,0.48,175.2,3016,3280,1832,1646,546.2,16.9,466,7265,0.12,2.15,0.00,0.000,5126,0.188,0.030,2992,1865,1739,1832,1646,0,0,0,0,0,0,25.75,26.07,25.98
$GC,8079,0.48,175.2,2992,1864,1830,1643,424.9,15.0,507,8084,0.00,2.10,0.00,0.000,260,0.000,0.028,2993,3279,1737,1830,1644,0,0,0,0,0,0,26.58,26.22,26.59
$GC,8228,0.48,175.2,2992,3279,1830,1643,404.2,14.9,514,8232,0.00,2.12,0.00,0.000,1030,0.000,0.030,3001,1861,1736,1830,1643,0,0,0,0,0,0,26.31,26.22,26.34
$GC,9034,0.48,175.2,3001,1861,1828,1643,250.9,19.2,554,9039,0.00,2.12,0.00,0.000,516,0.000,0.037,3012,466,1735,1828,1643,0,0,0,0,0,0,26.66,26.20,26.67
$GC,9122,0.48,175.2,3011,465,1820,1643,237.2,17.1,558,9126,0.00,2.12,0.00,0.000,1030,0.000,0.028,3012,1868,1731,1820,1643,0,0,0,0,0,0,26.36,26.27,26.39
$GC,9929,0.48,175.2,3011,1872,1823,1643,103.6,14.9,627,9933,0.00,2.10,0.00,0.000,260,0.000,0.032,3012,3280,1734,1824,1644,0,0,0,0,0,0,26.69,26.27,26.70
$GC,9981,0.48,175.2,3011,3279,1824,1644,96.2,13.9,634,9988,0.10,2.12,0.00,0.000,5126,0.173,0.030,2994,1861,1734,1824,1644,0,0,0,0,0,0,25.98,26.27,26.17
$GC,10307,0.48,175.2,2993,1861,1824,1644,55.1,10.5,695,10314,0.00,2.10,0.00,0.000,260,0.000,0.028,2994,3282,1734,1824,1644,0,0,0,0,0,0,26.70,26.29,26.71
$GC,10345,0.60,268.4,2993,3282,1824,1644,52.2,7.6,701,10424,0.00,2.10,72.70,0.668,9222,0.000,0.026,3002,1864,1369,1488,1251,0,0,0,0,0,0,26.39,26.30,24.89
$STATE,10778,end climb,SURFACE_DEPTH_REACHED
$STATE,10779,begin surface coast
$FINISH,0.9,1.025248
$STATE,10804,end surface coast,CONTROL_FINISHED_OK
$STATE,10804,begin surface
$SM_CCo,10820,13.00,0.051,0,0,1240,300.24
$SM_GC,3.04,7.57,0.60,13.00,0.031,0.020,0.051,123,2334,1240,-8.41,-1.30,300.24,0,0,0,0,0,0,25.97,26.08,25.89
$IRIDIUM_FIX,-2932.67,3145.07,130717,142508
$TT8_MAMPS,0.025466,0.261401
$HUMID,61.02
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,18.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,740.2,27.8
$24V_AH,23.64,32.702
$10V_AH,10.20,16.446
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.775,64.775,356.825,13.000,0.000,41.502,48.934,264.594,18.000,0.000,26.801,1915.572,6749.748,406.930,2134.688,130.432,0.000,1190.481,0.000,1676.354,0.000,114.089,0.000
$DEVICE_MAMPS,212.670,42.840,1132.965,51.255,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.729,98.968,419.302,427.043,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,343296
$DATA_FILE_SIZE,50459,778
$CAP_FILE_SIZE,98107,0
$CFSIZE,2097086464,2055012352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,130717,173402,-2946.703,3146.867,37,0.8,37,-24.8,0.0,0.0,9,7.4